When David Vaughan first met Pepper Fajans, it was not in Mr. Fajans’s capacity as a dancer (which he is), but as a carpenter (which he also is). Mr. Fajans was building a set for “Mondays With Merce,” a video series devoted to the work of the choreographer Merce Cunningham. Mr. Vaughan was the Cunningham company’s longtime archivist; Mr. Fajans eventually became Cunningham’s caretaker for 10 months until his death in 2009 and then, during the company’s final tour, looked after Mr. Vaughan. Despite their difference in ages — Mr. Vaughan is 92, Mr. Fajans 31 — they formed a deep bond.

In “Co. Venture,” a production of their year-old company, Brooklyn Touring Outfit, Mr. Vaughan sits in the middle of the stage at the Baryshnikov Arts Center as Mr. Fajans, spry and silky, darts around him in space. Gradually, the two men slowly reveal the layers of their friendship as they share stories about Cunningham and what forged their closeness: museum trips, aperitifs, dinners and a special day in Tel Aviv during which Mr. Fajans told Mr. Vaughan about how his father had been killed in a motorcycle accident.

Mr. Fajans, the piece’s creator, also talks about the time he was pushing Cunningham in his wheelchair, and the choreographer fell out. “Was I there for that?” interrupts Mr. Vaughan, who is British and alternatively dry, tender and biting. When Mr. Vaughan, later, nearly suffers the same fate in a wheelchair, Mr. Fajans said, “I was nervous that you might not trust me.”

“Oh, Pepper, I always trusted you.”

Trust is apparent as Mr. Fajans moves objects precariously close to Mr. Vaughan, including a large plywood panel that is used to hide and reveal the body. This is how Mr. Vaughan makes his first appearance: The panel falls to the floor, and, suddenly, there he is reading Cunningham’s text on dance: “What to some seems barren, to others is the very essence of the heroic.”

All the while, Mr. Fajans glides across the stage with the plywood or puppets (their faces or Cunningham’s foot and hand pasted on the top of sticks) bringing, in Cunningham words, the “space in which the dance happens” to life.

As they walk into the wings — Mr. Vaughan, with short steps on the edge of purposeful and shaky, and Mr. Fajans, sticking to the older man’s rhythm — we see that their adventure, unsentimental and seemingly unguarded, is also a love story. “Co. Venture” is about dancing and discipline, and a clear reminder that devotion manifests itself in many ways.